#include <upose.h>

Inheritance diagram for UPose:

Public Member Functions
void	add (double dist, double headingChange)

void	add (double ix, double iy, double ih)

UMatrix4	asCol3 ()

UMatrix4	asCol4 ()

UMatrix4	asMatrix2x2MtoP ()

UMatrix4	asMatrix2x2PtoM ()

UMatrix4	asMatrix3x3MtoP ()

UMatrix4	asMatrix3x3PtoM ()

UMatrix4	asMatrix4x4MtoP ()

UMatrix4	asMatrix4x4PtoM ()

UMatrix4	asMatrix4x4PtoMPos ()

UMatrix4	asRow3 ()

UMatrix4	asRow4 ()

virtual void	clear ()

virtual const char *	codeXml (char buf, const int bufCnt, const char extraAttr)

virtual const char *	codeXml (const char name, char buf, const int bufCnt, const char *extraAttr)

void	fprint (FILE fd, const char prestring)

char *	getAsSml (const char name, char buff, int buffCnt)

virtual const char *	getDataType ()

double	getDistance (UPose other)

double	getDistance (UPose *other)

double	getDistance (UPosition other)

double	getDistance (UPosition *other)

double	getDistToPoseLine (const double Px, const double Py)

double	getDistToPoseLineSigned (const double Px, const double Py)

double	getHeadingDeg ()

double	getHeadingDiff (UPose other)

double	getHeadingRad ()

UPosition	getMapToPose (UPosition mapPos)

U2Dpos	getMapToPose (U2Dpos mapPos)

UPosition	getMapToPose (UPose *mapPos)

UPosition	getMapToPose (UPose mapPos)

CvPoint	getMapToPose (CvPoint mapPos)

UPose	getMapToPosePose (UPose *mapPose)

UPose	getMapToPosePose (UPose mapPose)

UPosition	getPos (double z=0.0)

UPosition	getPoseToMap (UPosition posePos)

U2Dpos	getPoseToMap (U2Dpos posePos)

UPosition	getPoseToMap (double localX, double localY)

UPosition	getPoseToMap (UPose posePos)

CvPoint	getPoseToMap (CvPoint mapPos)

UPose	getPoseToMapPose (UPose poseLocal)

UPose	getPoseToMapPose (double x, double y, double h)

UPose	neg ()

UPose	operator+ (UPose pDelta)

UPose	operator+ (UPoseV pDelta)

UPose	operator+ (UPoseTime pDelta)

UPose	operator+ (UPoseTVQ pDelta)

UPose	operator- (UPose pRef)

UPose	operator- (UPoseV pRef)

UPose	operator- (UPoseTime pRef)

UPose	operator- (UPoseTVQ pRef)

UPose	operator= (UPoseTime source)

UPose	operator= (UPoseV source)

UPose	operator= (UPoseTVQ source)

UPose	operator= (UMatrix4 mat)

void	print (char buf, const char prestring, int bufLng)

void	print (const char *str)

void	set (UPosition pos, URotation rot)

void	set (double ix, double iy, double ih)

UPose	set (UMatrix *mat)

virtual void	snprint (const char preString, char buff, const int buffCnt)

	UPose ()

	UPose (double x, double y, double h)

	UPose (UPose *source)

	UPose (UPosition pos, URotation rot)

virtual	~UPose ()

Public Member Functions inherited from UDataBase
bool	isA (const char *typeString)

virtual bool	isAlsoA (const char *typeString)

	UDataBase ()

virtual	~UDataBase ()

Public Attributes
double	h

double	x

double	y

Protected Member Functions
UPose	addCed (UPose D)

UPose	addCed (UPose *D)

void	addDeltaPose (UPose D)

void	asAddC (UPose Vbase, UPose D)

void	asNegC (UPose D)

void	asSubC (UPose Va, UPose Vbase)

void	subC (UPose *Vbase)

UPose	subCed (UPose Vbase)

UPose	subCed (UPose *Vbase)

Detailed Description

Position for a Robot and functions related to such function.
The main thing is the data in format [x,y,Theta]

Author: Christian Andersen

Constructor & Destructor Documentation

UPose::UPose ( )

Constructor

UPose::UPose	(	double	x,
		double	y,
		double	h
	)

Constructor with initial value

References h, x, and y.

UPose::UPose ( UPose * source )

Constructor, tahe data from other object

UPose::UPose	(	UPosition *	pos,
		URotation *	rot
	)

Set from 3D position (in robot coordiantes,
3D.x is forward, 3D.y is left, 3D.z is up (ignored).
3D.Omega is tilt -left +right (ignored), 3D.Phi is nose -up +down (ignored) 3D.Kappa is turn -right +left (heading).

References h, URotation::Kappa, UPosition::x, x, UPosition::y, and y.

virtual UPose::~UPose ( )

inlinevirtual

Destructor

Member Function Documentation

void UPose::add	(	double	dist,
		double	headingChange
	)

Advance the pose 'dist' distance with an heading change over the distance of 'headingChange'.

References h, limitToPi(), x, and y.

Referenced by ULaserMeasurement::clear(), clear(), UAvoidPath2::createMidPathPoints(), UAvoidPath2::crossTangent(), UFakeMap::fakeAdvanceControl(), UAvoidPath2::outherTangent(), and UResGps::updateVars().

void UPose::add	(	double	ix,
		double	iy,
		double	ih
	)

Add this increment to present pose

References h, limitToPi(), x, and y.

UPose UPose::addCed ( UPose D )

inlineprotected

References asSubC(), and subC().

Referenced by UPoseV::operator+(), operator+(), and UPoseTVQ::operator+().

UPose UPose::addCed ( UPose * D )

protected

References asAddC().

void UPose::addDeltaPose ( UPose D )

protected

Referenced by operator=().

void UPose::asAddC	(	UPose	Vbase,
		UPose	D
	)

protected

Compounding operation Va = Vbase o+ D, where Va, Vbase and are all poses and D is the movement from Vb to Va in Vb local coordinates, whereas Va and Vbase are in "global" coordinates. Va = [xa, ya, ha] Vbase = [xb, yb , hb] D = [x, y, h]. xa = xb + x cos(hb) - y sin(hb); ya = yb + x sin(hb) + y cos(hb); ha = hb + h; Returns the new pose Va. (from Lu and Milios (1997))

References h, limitToPi(), x, and y.

Referenced by addCed(), and operator=().

UMatrix4 UPose::asCol3 ( )

pose as [x,y,h] column.

References h, UMatrix::set(), x, and y.

Referenced by getDistToPoseLine().

UMatrix4 UPose::asCol4 ( )

pose as homogenous [x,y,h,1] column.

References h, UMatrix::set(), x, and y.

Referenced by getDistToPoseLine(), and testPoseMatrix().

UMatrix4 UPose::asMatrix2x2MtoP ( )

Get rotation matrix when converting from map (or global) coordinates to local pose coordinates.
R = [cos(h) sin(h); -sin(h) cos(h)].

References h, and UMatrix::setRow().

Referenced by getDistToPoseLine().

UMatrix4 UPose::asMatrix2x2PtoM ( )

Get rotation matrix when converting from local (pose) coordinates to map or global coordinates.
R = [cos(h) -sin(h); sin(h) cos(h)].

References h, and UMatrix::setRow().

Referenced by getDistToPoseLine().

UMatrix4 UPose::asMatrix3x3MtoP ( )

Get this pose as a transformation matrix of size 3x3, that converts 2D positions in homogeous coordinates (x,y,1) in map coordinates to local 2D coordinates in the coordinate system of this pose.
intended use (x', y', w) = this * (x,y,1)'
where resulting (x,y) = (x'/w, y'/w); This may be a faster method when converting many points and if through many transformations.

Returns: a UMatrix4 (openCV matrix packed into UMatrix)

References h, UMatrix::setRow(), x, and y.

Referenced by getDistToPoseLine(), and testPoseMatrix().

UMatrix4 UPose::asMatrix3x3PtoM ( )

Get this pose as a transformation matrix of size 3x3, that converts 2D positions in homogeous coordinates (x,y,1) in local coordinates at this pose to 2D coordinates in the coordinate system in which this pose is defined (a more global coordinate system, often called map or global).
intended use (x', y', w) = this * (x,y,1)'
where resulting (x,y) = (x'/w, y'/w); This may be a faster method when converting many points and if through many transformations.

Returns: a UMatrix4 (openCV matrix packed into UMatrix)

References h, UMatrix::setRow(), x, and y.

Referenced by getDistToPoseLine(), and testPoseMatrix().

UMatrix4 UPose::asMatrix4x4MtoP ( )

Get this pose as a transformation matrix of size 4x4, that converts a pose in homogeous coordinates (x,y,h,1) in map coordinates to a pose in local coordinates of this pose.
intended use (x', y', h',1) = this * (x,y,h,1)'
to result (x', y', h'); This may be a faster method when converting many points and if through many transformations.

Returns: a UMatrix4 (openCV matrix packed into UMatrix)

References h, UMatrix::setRow(), x, and y.

Referenced by getDistToPoseLine(), and testPoseMatrix().

UMatrix4 UPose::asMatrix4x4PtoM ( )

Get this pose as a transformation matrix of size 4x4, that converts a pose in homogeous coordinates (x,y,h,1) in local coordinates at this pose to a pose in the coordinate system in which this pose is defined (a more global coordinate system, often called map or global).
intended use (x', y', h',1) = this * (x,y,h,1)'
for result (x',y',h'); This may be a faster method when converting many points and if through many transformations.

Returns: a UMatrix4 (openCV matrix packed into UMatrix)

References h, UMatrix::setRow(), x, and y.

Referenced by getDistToPoseLine(), testPoseMatrix(), and UPaintPcp::update().

UMatrix4 UPose::asMatrix4x4PtoMPos ( )

Get this pose as a transformation matrix of size 4x4 for use to convert 3D positions in local coordinates into to the more global system, where this pose is defined (z posiition is left s is)

Returns: a UMatrix4 (openCV matrix packed into UMatrix)

References h, UMatrix::setRow(), x, and y.

Referenced by UNamedBoxes::addBox(), UNamedBoxes::doDetect(), getDistToPoseLine(), UPaintLaserScan::makeScanCloud(), and UPaintPcp::update().

void UPose::asNegC ( UPose D )

protected

Reverse the relative pose D, so that it reverses the change from Vbase to Va Returns [0,0,0] o- D, or -D = subc([0,0,0], D);

References asSubC().

Referenced by neg(), and subCed().

UMatrix4 UPose::asRow3 ( )

pose as [x,y,h] row.

References h, UMatrix::set(), x, and y.

Referenced by getDistToPoseLine().

UMatrix4 UPose::asRow4 ( )

pose as homogenous [x,y,h,1] row.

References h, UMatrix::set(), x, and y.

Referenced by getDistToPoseLine().

void UPose::asSubC	(	UPose	Va,
		UPose	Vbase
	)

protected

Inverse compounding operation calculating the pose change from Vbase to Va, i.e. D = Va o- Vb. Va = [xa, ya, ha] Vbase = [xb, yb , hb] D = [x, y, h]. x = (xa - xb)cos(hb) + (ya - yb)sin(hb); y = -(xa - xb)sin(hb) + (ya - yb)cos(hb); h = ha - hb; Returns the inverse compound pose. (from Lu and Milios (1997))

References h, limitToPi(), x, and y.

Referenced by addCed(), asNegC(), subC(), and subCed().

virtual void UPose::clear ( void )

inlinevirtual

const char * UPose::codeXml	(	char *	buf,
		const int	bufCnt,
		const char *	extraAttr
	)

virtual

Code this structure in XML format. The open tag includes any additional XML attributes from the codeXmlAttributes function call

Parameters

buf	is the character buffer where the attributes are stored
bufCnt	is the amount of buffer space allocated
extraAttr	is an optional extra set of attributes, pre-coded as form "name=\"value" name=...".

Returns: a pointer to the buffer

Reimplemented in UPoseTime.

References buf, h, x, and y.

Referenced by codeXml(), UPoseTime::codeXml(), UResAvoid::codeXmlRobotFront(), operator+(), UPoseTime::operator=(), and UFunctionAvoid::sendCurrentAvoidPath().

const char * UPose::codeXml	(	const char *	name,
		char *	buf,
		const int	bufCnt,
		const char *	extraAttr
	)

virtual

Code this structure in XML format. The open tag includes any additional XML attributes from the codeXmlAttributes function call

Parameters

name	optional extra name value for a name attribute.
buf	is the character buffer where the attributes are stored
bufCnt	is the amount of buffer space allocated
extraAttr	is an optional extra set of attributes, pre-coded as form "name=\"value" name=...".

Returns: a pointer to the buffer

References codeXml().

void UPose::fprint	(	FILE *	fd,
		const char *	prestring
	)

Print pose in single line to console, with the provided prestring in front of data.

References getHeadingDeg(), x, and y.

Referenced by clear(), UPoseTime::fprint(), UPoseTime::getPose(), testManDistance(), testManToSeg(), testPose(), testPoseCoordinateTransfer(), and testPoseToPose().

char * UPose::getAsSml	(	const char *	name,
		char *	buff,
		int	buffCnt
	)

Code the pose in XML-like format. The name string is added as a name attribute.

Todo:: This is deprecated, use codeXml()

References h, x, and y.

Referenced by operator+(), and USmlTag::sendProbPoly().

virtual const char* UPose::getDataType ( )

inlinevirtual

Get (end) type of this structure

Reimplemented from UDataBase.

Reimplemented in UPoseTVQ, UPoseTime, and UPoseV.

Referenced by UFunctionVarPool::initCallReturnStructType().

double UPose::getDistance ( UPose other )

inline

double UPose::getDistance ( UPose * other )

inline

Get distance to another pose.

References x, and y.

double UPose::getDistance ( UPosition other )

inline

Get distance to another position (XY-part only).

References UPosition::x, and UPosition::y.

double UPose::getDistance ( UPosition * other )

inline

Get distance to another position (XY-part only).

References UPosition::x, and UPosition::y.

double UPose::getDistToPoseLine	(	const double	Px,
		const double	Py
	)

inline

Get distance to line described by this line

Parameters

Px,Py is the position to be evaluated

Returns: the distance

References asCol3(), asCol4(), asMatrix2x2MtoP(), asMatrix2x2PtoM(), asMatrix3x3MtoP(), asMatrix3x3PtoM(), asMatrix4x4MtoP(), asMatrix4x4PtoM(), asMatrix4x4PtoMPos(), asRow3(), asRow4(), and getDistToPoseLineSigned().

Referenced by UResSmrCtl::run().

double UPose::getDistToPoseLineSigned	(	const double	Px,
		const double	Py
	)

Get distance to line described by this line (signed)

Parameters

Px,Py is the position to be evaluated

Returns: the signed distance (left is positive)

References h, x, and y.

Referenced by getDistToPoseLine(), operator+(), and testPoseDist().

double UPose::getHeadingDeg ( )

Returns heading in 0-360 degree range.

References h, and limitToPi().

Referenced by fprint(), UPoseV::fprint(), Funcavoid::handleCommand(), print(), snprint(), UPoseV::snprint(), and UPoseTVQ::snprint().

double UPose::getHeadingDiff ( UPose other )

inline

Get heading difference to another pose. I.e. how much angle should I add th this heading to get the other (return limitToPi(other.h - h)).

References getMapToPose(), getPoseToMap(), h, limitToPi(), and neg().

Referenced by UPoseHistNotUsed::addIfNeeded(), and UResPoseHist::addIfNeeded().

double UPose::getHeadingRad ( )

inline

Returns heading in radians.

References h.

UPosition UPose::getMapToPose ( UPosition mapPos )

Convert this map position to local pose coordinates. This is done by translating map coordinates to pose position followed by rotation to pose-heading.

References h, UPosition::x, x, UPosition::y, y, and UPosition::z.

U2Dpos UPose::getMapToPose ( U2Dpos mapPos )

Convert this map position to local pose coordinates. This is done by translating map coordinates to pose position followed by rotation to pose-heading.

References h, U2Dpos::x, x, U2Dpos::y, and y.

UPosition UPose::getMapToPose ( UPose * mapPos )

Convert this map pose (x,y part) to local pose coordinates. This is done by translating map coordinates to pose position followed by rotation to pose-heading. See also getMapToPosePose(UPose * mapPose)

References h, UPosition::x, x, UPosition::y, y, and UPosition::z.

UPosition UPose::getMapToPose ( UPose mapPos )

inline

References getMapToPose(), and getMapToPosePose().

CvPoint UPose::getMapToPose ( CvPoint mapPos )

Convert this position to local value (used in UClient)

References h, roundi(), x, and y.

UPose UPose::getMapToPosePose ( UPose * mapPose )

Convert this map pose (x,y,h) to local pose coordinates. This is done by translating map coordinates to pose position followed by rotation to pose-heading. See also getPoseToMapPose(UPose * mapPose)

References getMapToPose(), h, limitToPi(), UPosition::x, x, UPosition::y, and y.

Referenced by UResPoseHist::addIfNeeded(), UAvoidPath2::createMidPathPoints(), UClientFuncLaserGui::doImage(), UManSeq::expandAddManALA(), UManSeq::expandAddManLALA(), UManSeq::expandManDriveon(), getMapToPose(), getMapToPosePose(), UFunctionAvoid::handleAvoid(), UFunctionAvoid::handlePoseToPose(), UAvoidPath2::insertNewPointAfter(), UResRuleState::methodCallV(), UNavPaint::mousePan(), UNavPaint::paintManData(), UClientFuncLaserGui::paintOdoDest(), UClientFuncLaserGui::paintPathData(), UResLocater::set_utmstate(), UAvoidPath2::setMidPoint(), UNavPaint::setRefSystemsHere(), UNavView::setRefSystemsHere(), UResLocater::setUtmPoseToMapPose(), testPoseMatrix(), testPoseToPose(), and UV360Scan::update().

UPose UPose::getMapToPosePose ( UPose mapPose )

inline

References getMapToPosePose(), and getPoseToMapPose().

UPosition UPose::getPos ( double z = 0.0 )

inline

Get pose position as an UPosition (3D) structure

Referenced by UReactivePath::avoidObst(), UManPPSeq::getEndPos(), UManPPSeq::getStartPos(), UAvoidPath2::invalidateObstaclesAtStartAndExit(), UNavView::paint(), UNavPaint::paintManData(), UClientFuncLaserGui::paintPathData(), UNavPaint::paintPoseHistLine(), and UClientFuncLaserGui::paintPostHistLine().

UPosition UPose::getPoseToMap ( UPosition posePos )

Convert this local position coordinate to map (global) coordinates. The z value is maintained

References h, UPosition::x, x, UPosition::y, y, and UPosition::z.

Referenced by UPaintBase::addBox(), UObstacleGroupLaser::addObst(), UObj3dPool::addObstacle(), UPaintPolygon::addPolyToViewer(), ULineMatch::addToPoly(), UAvoidPath2::createMidPathPoints(), Funcavoid::direkte(), UResRoadDrive::findExitPose(), UFuncCropRow::findPlants(), UManLine::getFoodprintPolygon(), UManArc::getFoodprintPolygon(), getHeadingDiff(), UAvoidPath2::getManAsPolygon(), UManPPSeq::getMinDistanceXYSigned(), UResMapObst::getNearObstacles(), UImgPolyProj::getRobToMap(), UImgProj::getRobToMap(), UFuncObj3d::handleCommand(), UFuncCropRow::handleCommand(), UFunctionPassable::handleObstGet(), Funcavoid::korrigerHuller(), UFuncBall::makeDisplayPolygon(), UFuncImSeg::makeDisplayPolygon(), UPaintPolygon::makePolyCloud(), UResLocater::match_points(), USFData::moveLocalToMap(), UFeatureData::moveLocalToOdo(), UProbPoly::moveToMap(), ULaserObst::moveToMap(), ULaserPi::moveToMap(), UNavView::paint(), UNavPaint::paintFeatures(), UNavView::paintFeatures(), UNavPaint::paintHistScan(), UClientFuncLaserGui::paintHistScan(), UNavPaint::paintManData(), UNavPaint::paintObstGrp(), UNavView::paintObstGrp(), UClientFuncLaserGui::paintPathData(), UProbPoly::paintRobot(), UObstaclePool::pointsToPolygon(), UResLobst::sendAsObstacles(), UAvoidPath2::setClosestPoint(), UAvoidPath2::setPreStopPoint(), testPoseCoordinateTransfer(), testPoseMatrix(), UNavPaint::toPixels(), UFuncStraightLine::toRobot(), UFuncStraightLine::toWorld(), and UResRoadLine::updateRoadVariables().

U2Dpos UPose::getPoseToMap ( U2Dpos posePos )

Convert this local position coordinate to map (global) coordinates.

References h, U2Dpos::x, x, U2Dpos::y, and y.

UPosition UPose::getPoseToMap	(	double	localX,
		double	localY
	)

Convert this local position coordinate to map (global) coordinates.

References h, UPosition::x, x, UPosition::y, y, and UPosition::z.

UPosition UPose::getPoseToMap ( UPose posePos )

Convert this local pose position coordinate to map (global) coordinates.

References h, UPosition::x, x, UPosition::y, y, and UPosition::z.

CvPoint UPose::getPoseToMap ( CvPoint mapPos )

Convert this local pose position coordinate to map (global) coordinates. The pose is assumed to be in pixel coordinates. the function takes and returns pixel coordinates. Used if a known local position is first scaled to pixel size and the function is then used to get the correct pixel position.

References h, roundi(), x, and y.

UPose UPose::getPoseToMapPose ( UPose poseLocal )

Convert this local pose position coordinate to map (global) coordinates. This is done by rotating with the heading and translating with the pose position. See also getMapToPosePose(UPose * mapPose)

References h, limitToPi(), x, and y.

Referenced by UPaintBase::addCircleCloud(), UPaintBase::addCylinder(), UResPoseHist::addIfNeeded(), UPaintBase::addWheel(), UResAvoid::codeXmlRobotFront(), UAvoidPath2::createMidPathPoints(), UAvoidPath2::expandOmegaTurn(), UFuncCropRow::findPlants(), UManPPSeq::getDistanceXYSigned(), UPaintBase::getInViewedCoordinates(), getMapToPosePose(), UManPPSeq::getMinDistanceXYSigned(), UResPoseHist::getPoseAtTime(), getPoseToMapPose(), UFuncCropRow::handleCommand(), UFunctionDrivePos::handleDrivePos(), UFunctionAvoid::handlePoseToPose(), UResLocater::locate(), UResDrivePos::methodCall(), UResRuleState::methodCallV(), UPaintPoseHist::paint(), UNavPaint::paintManData(), UNavPaint::paintPoseHistLine(), UFuncEfLine::sendBoxPose(), UAvoidPath2::setPreStopPoint(), UNavPaint::setRefSystemsHere(), UNavView::setRefSystemsHere(), UAvoidPoint::setTurnCentreFromMidPose(), and testPoseMatrix().

UPose UPose::getPoseToMapPose	(	double	x,
		double	y,
		double	h
	)

inline

Convert this local pose position coordinate to map (global) coordinates. This is done by rotating with the heading and translating with the pose position. See also getMapToPosePose(UPose * mapPose)

References a, getMapToPose(), and getPoseToMapPose().

UPose UPose::neg ( )

Save data in html-like format. Returns true if saved Load a pose from this xml-class. Returns true if read. Reports format error to xml-class. Negate this delta pose.

References asNegC().

Referenced by getHeadingDiff(), and testPose().

UPose UPose::operator+ ( UPose pDelta )

inline

Add a delta pose to a base pose to get a new pose. The delta pose must be in base pose perspective. i.e. To get from a reference position P1 to a new position P2 after a movement of 'pDelta'

References addCed(), buf, codeXml(), getAsSml(), and getDistToPoseLineSigned().

Referenced by UPoseTVQ::operator-(), and UPoseTVQ::operator=().

UPose UPose::operator+ ( UPoseV pDelta )

References addCed().

UPose UPose::operator+ ( UPoseTime pDelta )

References addCed().

UPose UPose::operator+ ( UPoseTVQ pDelta )

References addCed().

UPose UPose::operator- ( UPose pRef )

inline

Subtract 2 poses to get a delta pose from ref to base. i.e. if P1 and P2 is two poses, and deltaPose Pd = P2 - P1, then P2 is at position Pd in local P1 coordinates, and P2 = P1 + Pd

References subCed().

Referenced by UPoseTVQ::clear().

UPose UPose::operator- ( UPoseV pRef )

References subCed().

UPose UPose::operator- ( UPoseTime pRef )

References subCed().

UPose UPose::operator- ( UPoseTVQ pRef )

References subCed().

UPose UPose::operator= ( UPoseTime source )

get a pose from a pose-time object

References h, x, and y.

Referenced by clear(), and UPoseTime::operator=().

UPose UPose::operator= ( UPoseV source )

get a pose from a pose-velocity object

References h, x, and y.

UPose UPose::operator= ( UPoseTVQ source )

get a pose from a pose-velocity object

References h, x, and y.

UPose UPose::operator= ( UMatrix4 mat )

inline

Assignment operator from matrix

References addDeltaPose(), and asAddC().

void UPose::print	(	char *	buf,
		const char *	prestring,
		int	bufLng
	)

inline

Print pose in single line to a string buffer of length 'bufLng', with the provided prestring in front of data. Deprecated call - use snprint(...).

References snprint().

Referenced by UFuncCropRow::handleCommand(), UProbPoly::print(), testManDistance(), testManLineToSeg(), and testPoseMatrix().

void UPose::print ( const char * str )

inline

Print pose in single line to a string buffer of length 'bufLng', with the provided prestring in front of data.

References getHeadingDeg(), and snprint().

void UPose::set	(	UPosition *	pos,
		URotation *	rot
	)

Set from 3D position (in robot coordiantes,
3D.x is forward, 3D.y is left, 3D.z is up.
3D.Omega is tilt -left +right, 3D.Phi is nose -up +down 3D.Kappa is turn -right +left.

References h, URotation::Kappa, UPosition::x, x, UPosition::y, and y.

Referenced by UResRoadDrive::findExitPose(), UManLine::getDistanceXYSigned(), UManArc::getDistanceXYSigned(), UImgPolyProj::getImageName(), UImgProj::getImageName(), UManLine::getMinDistanceXYSigned(), UManArc::getMinDistanceXYSigned(), UResMapObst::getNearObstacles(), UVariable::getPose(), UPoseHistNotUsed::getPoseFitAtDistance(), UResPoseHist::getPoseFitAtDistance(), UVariable::getPoseTime(), UManLine::getPoseV(), UFunctionCamPath::getRobotPose(), UResSmrCtl::getSMRCLDrive2cmd(), UFunctionAvoid::handleAvoid(), UFunctionAvoid::handlePoseToPose(), UResLocater::locate(), UResLocater::match_points(), UResMapObst::methodCall(), UResAvoid::methodCall(), UResRuleState::methodCallV(), UImgPolyProj::paintPath(), UImgProj::paintPath(), UClientFuncLaserGui::paintPathData(), UNavPaint::paintPoseHistLine(), UFunctionAvoid::sendCurrentAvoidPath(), USmrCl::setDriveState(), UPlannerValue::setFromTag(), UAvoidPath2::setMidPoint(), UProbPoly::setPoseNow(), UProbPoly::setPoseOrg(), UImgProj::setRobPose(), UImgPolyProj::setRobPose(), UImgProj::setStartPose(), UImgPolyProj::setStartPose(), UAvoidPath2::setTurnCentre(), testManPoly(), testPoseDist(), testPoseMatrix(), UImgPolyProj::UImgPolyProj(), UImgProj::UImgProj(), UNavPaint::UNavPaint(), UResV360::update(), and UV360Scan::UV360Scan().

void UPose::set	(	double	ix,
		double	iy,
		double	ih
	)

Set value from these data

References h, x, and y.

UPose UPose::set ( UMatrix * mat )

Set pose from matrix (column or row vector).

Parameters

mat	is a pointer to the matrix.

Returns: this pose.

References UMatrix::get(), h, UMatrix::size(), x, and y.

void UPose::snprint	(	const char *	preString,
		char *	buff,
		const int	buffCnt
	)

virtual

Print status for this structure into a string

Reimplemented from UDataBase.

Reimplemented in UPoseTVQ, UPoseTime, and UPoseV.

References getHeadingDeg(), x, and y.

Referenced by UPoseTime::getPose(), print(), UPoseTVQ::print(), and UPoseTime::snprint().

void UPose::subC ( UPose * Vbase )

protected

References asSubC().

Referenced by addCed().

UPose UPose::subCed ( UPose Vbase )

inlineprotected

References asNegC().

Referenced by UPoseV::operator-(), operator-(), and UPoseTVQ::operator-().

UPose UPose::subCed ( UPose * Vbase )

protected

References asSubC().

Member Data Documentation

double UPose::h

heading (Theta) zero in x direction and positive towards y. That is right hand coordinates with z pointing up.

double UPose::x

x position (forward or east)

double UPose::y

y position (left or north)

The documentation for this class was generated from the following files:

Public Member Functions

Public Attributes

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation